EP2433840B1 - Unité de commande de mouvement pour un véhicule en fonction d'informations sur la variation d'accélération - Google Patents

Unité de commande de mouvement pour un véhicule en fonction d'informations sur la variation d'accélération Download PDF

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Publication number
EP2433840B1
EP2433840B1 EP11184288.6A EP11184288A EP2433840B1 EP 2433840 B1 EP2433840 B1 EP 2433840B1 EP 11184288 A EP11184288 A EP 11184288A EP 2433840 B1 EP2433840 B1 EP 2433840B1
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EP
European Patent Office
Prior art keywords
vehicle
yaw moment
acceleration
yaw
lateral
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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Application number
EP11184288.6A
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German (de)
English (en)
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EP2433840A1 (fr
Inventor
Makoto c/o Hitachi Ltd. Yamakado
Shinya c/o Hitachi Ltd. Imura
Masato Abe
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Hitachi Ltd
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Hitachi Ltd
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Publication date
Application filed by Hitachi Ltd filed Critical Hitachi Ltd
Priority to EP13161910.8A priority Critical patent/EP2626264B1/fr
Publication of EP2433840A1 publication Critical patent/EP2433840A1/fr
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
    • B60W40/02—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to ambient conditions
    • B60W40/06—Road conditions
    • B60W40/064—Degree of grip
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units, or advanced driver assistance systems for ensuring comfort, stability and safety or drive control systems for propelling or retarding the vehicle
    • B60W30/02—Control of vehicle driving stability
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
    • B60T8/00—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force
    • B60T8/17—Using electrical or electronic regulation means to control braking
    • B60T8/1755—Brake regulation specially adapted to control the stability of the vehicle, e.g. taking into account yaw rate or transverse acceleration in a curve
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units, or advanced driver assistance systems for ensuring comfort, stability and safety or drive control systems for propelling or retarding the vehicle
    • B60W30/02—Control of vehicle driving stability
    • B60W30/045—Improving turning performance
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units, or advanced driver assistance systems for ensuring comfort, stability and safety or drive control systems for propelling or retarding the vehicle
    • B60W30/18—Propelling the vehicle
    • B60W30/18009—Propelling the vehicle related to particular drive situations
    • B60W30/18145—Cornering
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
    • B60W40/10—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to vehicle motion
    • B60W40/103—Side slip angle of vehicle body
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
    • B60W40/10—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to vehicle motion
    • B60W40/114—Yaw movement
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
    • B60T2230/00—Monitoring, detecting special vehicle behaviour; Counteracting thereof
    • B60T2230/02—Side slip angle, attitude angle, floating angle, drift angle
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
    • B60T2230/00—Monitoring, detecting special vehicle behaviour; Counteracting thereof
    • B60T2230/04—Jerk, soft-stop; Anti-jerk, reduction of pitch or nose-dive when braking
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2520/00—Input parameters relating to overall vehicle dynamics
    • B60W2520/10—Longitudinal speed
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2520/00—Input parameters relating to overall vehicle dynamics
    • B60W2520/12—Lateral speed
    • B60W2520/125—Lateral acceleration
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2520/00—Input parameters relating to overall vehicle dynamics
    • B60W2520/14—Yaw
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2520/00—Input parameters relating to overall vehicle dynamics
    • B60W2520/28—Wheel speed
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2720/00—Output or target parameters relating to overall vehicle dynamics
    • B60W2720/14—Yaw

Landscapes

  • Engineering & Computer Science (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Automation & Control Theory (AREA)
  • Physics & Mathematics (AREA)
  • Mathematical Physics (AREA)
  • Control Of Driving Devices And Active Controlling Of Vehicle (AREA)
  • Regulating Braking Force (AREA)
  • Steering Control In Accordance With Driving Conditions (AREA)
  • Electric Propulsion And Braking For Vehicles (AREA)

Claims (2)

  1. Système de commande de déplacement pour un véhicule comprenant :
    des moyens de commande (40) pour commander une accélération longitudinale du véhicule,
    caractérisé en ce que les moyens de commande (40) commandent l'accélération longitudinale du véhicule sur la base d'une valeur obtenue en multipliant une secousse latérale (Gy_dot) du véhicule par un gain stocké au préalable (KGyV) déterminé par une vitesse longitudinale (V) et par une accélération latérale (Gy) du véhicule.
  2. Procédé pour commander un véhicule, ledit procédé comprenant les étapes consistant à :
    générer un ordre de commande pour l'accélération longitudinale du véhicule sur la base d'une valeur obtenue en multipliant une secousse latérale (Gy_dot) du véhicule par un gain stocké au préalable (KGyV) déterminé par une vitesse longitudinale (V) et par une accélération latérale (Gy) du véhicule ;
    délivrer l'ordre de commande généré ; et
    commander le déplacement du véhicule sur la base de l'ordre de commande généré.
EP11184288.6A 2007-05-18 2008-05-15 Unité de commande de mouvement pour un véhicule en fonction d'informations sur la variation d'accélération Active EP2433840B1 (fr)

Priority Applications (1)

Application Number Priority Date Filing Date Title
EP13161910.8A EP2626264B1 (fr) 2007-05-18 2008-05-15 Système de commande de mouvement pour véhicule en fonction d'informations sur la variation d'accélération

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
JP2007132987A JP4568302B2 (ja) 2007-05-18 2007-05-18 加加速度情報を用いた車両の前後加速度制御装置
EP08009005A EP1992537B1 (fr) 2007-05-18 2008-05-15 Unité de commande de mouvement pour un véhicule en fonction d'information sur la variation d'accélération

Related Parent Applications (1)

Application Number Title Priority Date Filing Date
EP08009005.3 Division 2008-05-15

Related Child Applications (2)

Application Number Title Priority Date Filing Date
EP13161910.8A Division EP2626264B1 (fr) 2007-05-18 2008-05-15 Système de commande de mouvement pour véhicule en fonction d'informations sur la variation d'accélération
EP13161910.8 Division-Into 2013-04-02

Publications (2)

Publication Number Publication Date
EP2433840A1 EP2433840A1 (fr) 2012-03-28
EP2433840B1 true EP2433840B1 (fr) 2013-06-05

Family

ID=39730727

Family Applications (3)

Application Number Title Priority Date Filing Date
EP11184288.6A Active EP2433840B1 (fr) 2007-05-18 2008-05-15 Unité de commande de mouvement pour un véhicule en fonction d'informations sur la variation d'accélération
EP13161910.8A Active EP2626264B1 (fr) 2007-05-18 2008-05-15 Système de commande de mouvement pour véhicule en fonction d'informations sur la variation d'accélération
EP08009005A Active EP1992537B1 (fr) 2007-05-18 2008-05-15 Unité de commande de mouvement pour un véhicule en fonction d'information sur la variation d'accélération

Family Applications After (2)

Application Number Title Priority Date Filing Date
EP13161910.8A Active EP2626264B1 (fr) 2007-05-18 2008-05-15 Système de commande de mouvement pour véhicule en fonction d'informations sur la variation d'accélération
EP08009005A Active EP1992537B1 (fr) 2007-05-18 2008-05-15 Unité de commande de mouvement pour un véhicule en fonction d'information sur la variation d'accélération

Country Status (5)

Country Link
US (4) US7979180B2 (fr)
EP (3) EP2433840B1 (fr)
JP (1) JP4568302B2 (fr)
KR (1) KR100903665B1 (fr)
CN (2) CN101311050B (fr)

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EP2626264B1 (fr) 2016-09-21
EP2626264A1 (fr) 2013-08-14
JP2008285066A (ja) 2008-11-27
EP1992537A3 (fr) 2010-08-25
US20110231033A1 (en) 2011-09-22
JP4568302B2 (ja) 2010-10-27
US8239096B2 (en) 2012-08-07
KR20080101738A (ko) 2008-11-21
US7979180B2 (en) 2011-07-12
CN101311050A (zh) 2008-11-26
US8515619B2 (en) 2013-08-20
KR100903665B1 (ko) 2009-06-18
US8112200B2 (en) 2012-02-07
CN102107660A (zh) 2011-06-29
CN102107660B (zh) 2014-01-08
EP1992537B1 (fr) 2011-11-16
EP1992537A2 (fr) 2008-11-19
EP2433840A1 (fr) 2012-03-28
CN101311050B (zh) 2011-07-06
US20120323445A1 (en) 2012-12-20
US20120101657A1 (en) 2012-04-26

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